Design and optimization of a cable driven drawing robot

In this thesis, a geometric optimization system is proposed for a planar cable-driven drawing robot and a user interface design has been carried out in order to determine the parameters during the operation of this system. For this proposed system, a sample picture taken from the user and the number of corner points of the robot mechanism; It proposes the optimum geometric design of the robot, which will enable that picture to be drawn by the robot. Using the developed interface, the system takes the desired picture and the number of corner points for the cable-driven robot as input, and by using this information, it optimizes the cable lengths of the robot mechanism and the connection points of the cables to the pen, which will enable the input picture to be drawn, and proposes the optimum mechanism according to the results. Genetic Algorithm was used as an optimization tool. In order to test the proposed system, geometric optimization was made by entering eight different images and five different corner points for each image, and the results were presented comparatively.